CN110386074B - System and device for vision of unmanned engineering operation equipment - Google Patents
System and device for vision of unmanned engineering operation equipment Download PDFInfo
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- CN110386074B CN110386074B CN201910557062.5A CN201910557062A CN110386074B CN 110386074 B CN110386074 B CN 110386074B CN 201910557062 A CN201910557062 A CN 201910557062A CN 110386074 B CN110386074 B CN 110386074B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
- B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
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Abstract
The invention relates to a vision system and a device for unmanned engineering operation equipment, wherein the system is arranged on the roof of the unmanned engineering operation equipment and comprises an image acquisition module, a vision assembly unit and a communication module, the vision assembly unit is respectively connected to a front image acquisition module and a rear image acquisition module through lines, and the vision assembly unit is connected with the communication module; the image acquisition module is used for acquiring front and rear images of engineering operation equipment to provide barrier information; the communication module is used for transmitting the information processed by the visual controller to the engineering operation equipment master controller; the vision assembly module is used for supplying power to the two image acquisition modules and processing information transmitted by other modules. The invention has the advantages of modularization, quick installation, simple and quick installation method, convenient disassembly, replacement and maintenance, high shockproof capacity and adaptation to the severe environment of engineering operation equipment, and the camera position can be moved according to the requirement.
Description
Technical Field
The invention belongs to the field of unmanned control, and particularly relates to a system and a device for vision of unmanned engineering operation equipment.
Background
At present, an unmanned vehicle vision system is mainly applied to an urban scene unmanned vehicle and used for identifying pedestrians, red and green lamps, lane lines and the like, and is used as an important part of unmanned vehicle perception, but in large-scale machinery applied to engineering such as unmanned engineering operation equipment, the vision system is not applied to the perception at present so as to provide information for decision making and control. The space on the unmanned vehicle in the urban scene is large, the available positions are many, the vision scheme is not limited by the space and the lengthy constraint of the wire harness, the camera is troublesome to install, and the installable positions are not flexible enough; the engineering machinery cab of engineering operation equipment is narrow in space, the vehicle body structure is quite different from that of urban vehicles, the application scene environment is severe, dust is large, vibration is strong, and the visual system is difficult to install, arrange and fix the wire harness. The vision system of the urban scene vehicle is directly adopted to be refitted on the engineering machinery represented by engineering operation equipment, the refitting difficulty is high, the system is extremely complex, and the system is poor in application type. Thus, there is a need for a vision system and apparatus that is specifically adapted for use with an engineering work device to meet engineering needs.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a system and a device for the vision of unmanned engineering operation equipment.
The invention solves the technical problems by adopting the following technical scheme:
a system for unmanned engineering work equipment vision, characterized by: the system is arranged on the roof of unmanned engineering operation equipment and comprises an image acquisition module, a visual assembly unit and a communication module, wherein the visual assembly unit is respectively connected to the front image acquisition module and the rear image acquisition module through circuits, and the visual assembly unit is connected with the communication module;
the image acquisition module is used for acquiring front and rear images of engineering operation equipment to provide barrier information;
the communication module is used for transmitting the information processed by the visual controller to the engineering operation equipment master controller;
the vision assembly module is used for supplying power to the two image acquisition modules and processing information transmitted by other modules.
And the vision assembly unit comprises an operation processing module and a power module, wherein the power module supplies power to the operation processing module and simultaneously supplies power to the two image acquisition modules, and the operation processing module is used for processing information acquired by the image acquisition modules.
And the operation processing module, the power module and the communication module are arranged in the induction box and are respectively connected with the image acquisition module through data lines.
A device for unmanned engineering work equipment vision, characterized in that: the device comprises an image acquisition bracket and an induction box structure, wherein the image acquisition bracket is used for fixing an image acquisition module, and the induction box is used for packaging a vision assembly unit and a communication module.
Moreover, the structure of the image acquisition bracket is as follows: an image acquisition bracket made of sectional materials is welded at the front and the rear of the roof of engineering operation equipment respectively, two connecting sheets are mounted on the image acquisition bracket through T-shaped bolts, and the connecting sheets are connected with an image acquisition module in a three-point welding mode.
Moreover, the induction box adopts a cubic box body structure formed by assembling an aluminum plate and a profile frame, adopts T-shaped bolts for fixing to realize quick assembly, and adopts instant glue for waterproof joint positions.
And the profile frames are connected in a reinforcing way by adopting L-shaped connecting pieces.
In addition, the aluminum plate at the edge of the box body structure is provided with a bending radian for preventing water and dust.
The T-shaped bolt can be detached.
The invention has the advantages and positive effects that:
1. compared with the prior art, the invention can realize the modular and rapid installation of the vision system of engineering operation equipment, the sectional materials and the connecting pieces are standard finished products, the installation method is simple and rapid, only bolts are used for assembling according to the steps, the degree of freedom of the installation position of the camera is increased, the sectional materials are used as the base of the camera, the defect of troublesome installation of the camera is overcome, the camera position can be moved left and right according to the needs, and the disassembly, the replacement and the maintenance are convenient.
2. Compared with the prior art, the invention reduces the refitting complexity of the vision system, solves the defects of unchanged installation and the like caused by narrow indoor space of engineering operation equipment, realizes the installation of the vision system outside a cab, and realizes the effects of water resistance, dust resistance and vibration resistance by wrapping the section bar and thermosol with the aluminum plate and bending the aluminum plate into a certain radian.
3. Compared with the prior art, the invention has higher shockproof capacity and can adapt to the severe environment of engineering operation equipment.
Drawings
FIG. 1 is a schematic view of a vision system of the present invention;
fig. 2 is a schematic view of an image acquisition bracket and an induction box.
Detailed Description
The invention will now be described in further detail by way of specific examples, which are given by way of illustration only and not by way of limitation, with reference to the accompanying drawings.
The visual system for the unmanned engineering operation equipment comprises an image acquisition module, a visual assembly unit and a communication module, wherein the visual assembly unit is connected to the front image acquisition module and the rear image acquisition module through circuits respectively, and the visual assembly unit is connected with the communication module; the vision assembly unit comprises an operation processing module and a power module, and the power module supplies power to the two image acquisition modules at the same time;
the image acquisition module is used for acquiring front and rear images of engineering operation equipment to provide information such as obstacles; the communication module is used for transmitting the information processed by the visual controller to the engineering operation equipment master controller; the operation processing module is used for processing the information acquired by the image acquisition module; the power module is used for supplying power to the controller and the acquisition module, and the vision assembly module is used for supplying power to the two image acquisition modules and processing information transmitted by other modules.
The operation processing module, the power module and the communication module are arranged in the induction box and are connected with the image acquisition module through the data line. The whole system is modularized, the whole system is moved to the roof, the vision assembly unit and the communication module are packaged in the induction box, the aluminum profile finished product piece is utilized for quick disassembly, the modularized thought is adopted, the modules are packaged together through the induction box, and the convenience of the profile is utilized to realize quick disassembly.
A vision device for unmanned engineering operation equipment, including image acquisition support and response box structure, see the figure 2 and show, image acquisition support is used for fixed image acquisition module, and response box is used for encapsulation vision assembly unit and communication module, avoids its naked hourglass in the roof.
The structure of the image acquisition bracket is as follows: the front and the rear of the roof of the engineering operation equipment are respectively welded with an image acquisition bracket 2 made of sectional materials, two connecting pieces 1 are arranged on the image acquisition bracket through T-shaped bolts, the connecting pieces are all connected with a camera in a three-point welding mode, the camera is used as an image acquisition module, the installation position of the camera can be selected by adjusting the connection position of the T-shaped bolts, and the camera is easy to assemble and disassemble. The structure of the bracket effectively reduces the problems of difficult installation and large workload of the image acquisition module.
The induction box adopts aluminum plate 5 to assemble the cube box body structure of constituteing with section bar frame 4, adopts L type connecting piece 3 to connect between the section bar frame and guarantees sound construction, adopts T type bolt fastening can realize fast assembly, and seam position 6 all adopts instant glue to waterproof, and box body edge 7's aluminum plate is greater than the box body and makes and have crooked radian to reach waterproof dirt-proof effect. Utilize aluminum plate parcel section bar, thermosol and with aluminium apron slightly be greater than the box body and crooked into certain radian and carry out waterproof dustproof processing, waterproof construction's design solution will be put the vision system outdoor can receive the problem of influence of rainwater.
Finally, it should be noted that: the above embodiments are only for illustrating the technical aspects of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.
Claims (3)
1. A system for unmanned engineering work equipment vision, characterized by: the system is arranged on the roof of the unmanned engineering operation equipment and comprises an image acquisition module, a visual assembly unit and a communication module, wherein the visual assembly unit is connected to the front image acquisition module and the rear image acquisition module through circuits respectively, and the visual assembly unit is connected with the communication module;
the image acquisition module is used for acquiring front and rear images of engineering operation equipment to provide barrier information;
the communication module is used for transmitting the information processed by the visual controller to the engineering operation equipment master controller;
the vision assembly module is used for supplying power to the two image acquisition modules and processing information transmitted by other modules, the vision assembly unit comprises an operation processing module and a power module, the power module supplies power to the operation processing module and simultaneously supplies power to the two image acquisition modules, and the operation processing module is used for processing the information acquired by the image acquisition modules;
the system comprises an image acquisition bracket and an induction box structure, wherein the image acquisition bracket is used for fixing an image acquisition module, and the induction box is used for packaging a vision assembly unit and a communication module;
the structure of the image acquisition bracket is as follows: an image acquisition bracket made of sectional materials is welded at the front and the rear of the roof of engineering operation equipment respectively, two connecting sheets are mounted on the image acquisition bracket through T-shaped bolts, and the connecting sheets are connected with an image acquisition module in a three-point welding mode;
the induction box adopts a cubic box body structure formed by assembling aluminum plates and profile frames, the profile frames are reinforced and connected by adopting L-shaped connecting pieces, the rapid assembly is realized by adopting T-shaped bolt fixation, the joint position is waterproof by adopting rapid sol, the aluminum plates at the edge of the box body are larger than the box body and are provided with bending radians, and the waterproof and dustproof effects are achieved; the aluminum plate is used for wrapping the section bar and thermosol, and is larger than the box body and bent into a certain radian to carry out waterproof and dustproof treatment;
the section bar and the connecting piece are standard finished products, only bolts are used for assembling according to the steps, the degree of freedom of the mounting position of the camera is increased, the section bar is used as a base of the camera, and the camera position can move left and right according to the needs;
the whole system is modularized, the whole system is moved to the roof, the vision assembly unit and the communication module are packaged in the induction box, the aluminum profile finished product piece is utilized for quick disassembly, the modularized thought is adopted, the modules are packaged together through the induction box, and the convenience of the profile is utilized to realize quick disassembly.
2. The system for unmanned engineering work equipment vision of claim 1, wherein: the operation processing module, the power module and the communication module are arranged in the induction box and are respectively connected with the image acquisition module through data lines.
3. The system for unmanned engineering work equipment vision of claim 1, wherein: the T-shaped bolt can be disassembled and assembled.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910557062.5A CN110386074B (en) | 2019-06-25 | 2019-06-25 | System and device for vision of unmanned engineering operation equipment |
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| CN201910557062.5A CN110386074B (en) | 2019-06-25 | 2019-06-25 | System and device for vision of unmanned engineering operation equipment |
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| CN110386074B true CN110386074B (en) | 2023-06-20 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3364419B2 (en) * | 1997-10-29 | 2003-01-08 | 新キャタピラー三菱株式会社 | Remote radio control system, remote control device, mobile relay station and wireless mobile work machine |
| CN101845832B (en) * | 2010-05-07 | 2012-02-08 | 武汉理工大学 | Multifunctional rescuing and barrier-breaking robot |
| CN104898656A (en) * | 2014-03-06 | 2015-09-09 | 西北农林科技大学 | Farmland multiple robot following land cultivation system based on stereo visual sense visual sense and method for the same |
| KR20180055292A (en) * | 2016-11-16 | 2018-05-25 | 국민대학교산학협력단 | Integration method for coordinates of multi lidar |
| CN109283561A (en) * | 2017-07-22 | 2019-01-29 | 西北农林科技大学 | A kind of unmanned combine harvester vision navigation system |
| CN207557973U (en) * | 2017-10-25 | 2018-06-29 | 北京中科慧眼科技有限公司 | A kind of automobile, its automated driving system and its visual perception equipment |
| CN107673283A (en) * | 2017-11-17 | 2018-02-09 | 芜湖金智王机械设备有限公司 | The control system of unmanned fork truck |
| CN108222093B (en) * | 2018-01-02 | 2021-04-27 | 清华大学 | Automatic bulldozing robot |
| CN108556739A (en) * | 2018-03-30 | 2018-09-21 | 东南大学 | Vehicle early warning device based on binocular full-view stereo vision |
| CN109296017A (en) * | 2018-11-15 | 2019-02-01 | 山河智能装备股份有限公司 | Multifunctional double-headed job engineering vehicle |
| CN110239636B (en) * | 2019-06-25 | 2021-12-07 | 天津大学 | Coordinate correction system and correction method of unmanned equipment |
| US20210276645A1 (en) * | 2020-03-05 | 2021-09-09 | Caterpillar Paving Products Inc. | Modular sensor bay for a construction machine |
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